cmake_minimum_required(VERSION 3.5)
project(imu_sensor)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++17 for better ROS2 compatibility
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

# Add executables
add_executable(imu_publisher src/imu_publisher.cpp)
add_executable(imu_subscriber src/imu_subscriber.cpp)
add_executable(test_imu_publisher src/test_imu_publisher.cpp)

# Add dependencies
ament_target_dependencies(imu_publisher
  rclcpp
  sensor_msgs
  geometry_msgs
  std_msgs
)

ament_target_dependencies(imu_subscriber
  rclcpp
  sensor_msgs
  geometry_msgs
  std_msgs
)

ament_target_dependencies(test_imu_publisher
  rclcpp
  sensor_msgs
  geometry_msgs
  std_msgs
)

# Install executables
install(TARGETS
  imu_publisher
  imu_subscriber
  test_imu_publisher
  DESTINATION lib/${PROJECT_NAME}
)

# Install launch files
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}
)

ament_package()
